GB2303417A - Controlling the brake system of a vehicle - Google Patents

Controlling the brake system of a vehicle Download PDF

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Publication number
GB2303417A
GB2303417A GB9614081A GB9614081A GB2303417A GB 2303417 A GB2303417 A GB 2303417A GB 9614081 A GB9614081 A GB 9614081A GB 9614081 A GB9614081 A GB 9614081A GB 2303417 A GB2303417 A GB 2303417A
Authority
GB
United Kingdom
Prior art keywords
deceleration
brake system
vehicle
brake
braking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB9614081A
Other versions
GB9614081D0 (en
GB2303417B (en
Inventor
Helmut Wiss
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of GB9614081D0 publication Critical patent/GB9614081D0/en
Publication of GB2303417A publication Critical patent/GB2303417A/en
Application granted granted Critical
Publication of GB2303417B publication Critical patent/GB2303417B/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B60T8/17616—Microprocessor-based systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S188/00—Brakes
    • Y10S188/01—Panic braking

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)

Description

1 2303417 Method and device for controllinq the brake svstem of a vehicle
Background art
The invention relates to a method and a device for controlling the brake system of a vehicle.
From the non-prepublished German patent application 1 95 01 760.9 of 21.1. 1995 a method and a device for controlling the brake system of a vehicle is known, in which in dependence upon the operation of the brake pedal by the driver the braking force in the wheel brakes is actively increased during a braking process by activating the return pump or pumps, one or more changeover valves and/or one or more intake valves. The increase of the braking force is effected beyond the value predetermined by the rating of the brake system and corresponding to the respective stipulation of the driver. The increase of the braking force occurs in operating states which are characterized by a rapid and forceful operation of the brake pedal effected by the driver in response to a hazard situation. For said reason, at least the operating speed or the rate of change of the pressure in the region of the main brake cylinder is compared with a preset threshold value and, if the threshold value is exceeded, the automatic braking process described above is initiated. The automatic braking process is terminated when at least the operating degree of the pedal or the pressure in the main brake cylinder drops below a further preset threshold value. With said known procedure, the pressure build-up is effected as far as into the ABS control system. The driver therefore has no influence upon the vehicle deceleration.
2 As experience has shown that the driver should have an influence upon the vehicle deceleration in every operating state, the object of the present invention is to indicate such measures.
Said object is achieved by the features of the independent claims.
Advantages of the invention By virtue of the measures according to the invention, the driver has an influence upon the vehicle deceleration in every operating situation, even in operating situations involving automatic braking.
It is particularly advantageous that the deceleration of the vehicle is adjusted in dependence upon the foot pressure of the driver. In an advantageous manner, independently of the vehicle weight and the brake condition, the same foot pressure always produces the same deceleration of the vehicle.
It is particularly advantageous that, besides the foot pressure, the change in foot pressure is also utilized. Thus, the driver may by means of a faster change of foot pressure contribute towards a further increase of the vehicle deceleration and hence in the event of full brake application increase driving safety.
It is particularly advantageous that the driving properties of the vehicle are improved as a result of individual braking torque distribution to the individual wheel brakes. In said manner, the rear axle brake system may advantageously make a bigger contribution towards vehicle deceleration.
Further advantages are indicated in the following description of embodiments and in the dependent claims.
Drawing 3 There follows a detailed description of the invention with reference to the embodiments shown in the drawing. The single figure shows a general block diagram of the measures according to the invention which, in a preferred embodiment, are executed as a computer program in a microcomputer.
Description of embodiments
Figure 1 shows a control unit 10 which, in the preferred embodiment, comprises at least one microcomputer. Said microcomputer implements the procedure according to the invention which is explained below with reference to a block diagram.
Running from a measuring device 12 to the control unit 10 and hence to the microcomputer is an input line 14, along which a measure of the stipulation of the driver, i.e. of the operation of the brake pedal 16, is made available to the control unit 10. In the preferred embodiment, said measure is a signal value representing the admission pressure Pvor in the main brake cylinder of the brake system. In other advantageous embodiments, said measure is a pressure value in the brake line or brake lines of the brake system, a signal quantity for the operating force or for the operating travel of the brake pedal. An input line 18 moreover runs to the control unit 10e from a measuring device 20 for detecting the speed of the vehicle. The speed of the vehicle is determined by a separate measuring device or, as in a preferred embodiment, on the basis of the speeds of the wheels of the vehicle.
via the output lines 22, 24, 26 and 28 the control unit 10 controls valve arrangements 30, 32, 34 and 36 which, by acting upon the wheel brake cylinders, influence the braking force at 4 the wheels of the vehicle. Furthermore, in the preferred embodiment, an output line 38 is provided which activates at least one return pump 40 for actively building up the braking force.
The input line 14 from the measuring device 12 leads to a differentiator 42 and to a setpoint generator 44. The output line 46 of the differentiator 42 leads to the setpoint generator 44 and to a threshold value module 48. For varying the preset threshold value, in the preferred embodiment at least the operating signal (cf. the dashed line) is supplied to the threshold value module. The output line 50 of the threshold value generator 44 leads to a comparator module 52, to which a line 54 also leads from a further differentiator 56. Leading to the latter is the input line 18 of the control unit.
The output line 58 of the comparator module 52 leads via a switching element 60 to a controller unit 62. The switching element 60 is operated via a line 64, which is the output line of the threshold value module 48. The output line 38 branches off from the line 64.
The output line 66 of the controller unit 62 leads to correction units 68, 70, 72 and 74 associated with each of the wheel brakes. Signal quantities are transferred via lines 76 to 78 to said correction units for wheel-specific correction of the braking force to be adjusted. Such wheel-specific quantities are wheel size, wheel load, coefficient of friction, information about whether cornering is occurring, etc. The output lines 80, 82, 84 and 86 lead preferably via braking torque controllers (not shown) to the output lines 22 to 28 of the control unit 10.
The basic idea of the measures according to the invention is that on the basis of the operating signal and its change a setpoint deceleration of the vehicle is calculated. From the system deviation between setpoint and actual deceleration of the vehicle a braking force related to the vehicle is determined. In dependence upon the driving state, which is defined by wheel load, coefficient of friction, detection of cornering etc., there is then effected a wheel- specific braking torque distribution which is adjusted by means of suitable controller blocks at the individual wheel brakes.
In order to realize said basic idea, there is stored in the threshold value generator 44 an equation, table or characteristic map, by means of which a setpoint deceleration ASoll of the vehicle is associated with the operating signal and its change. In the preferred embodiment, the pressure in the main brake cylinder of the brake system, the so-called admission pressure, is acquired as an operating signal. Said signal is supplied via the line 14 to the threshold value generator 44. Said signal is further differentiated in the differentiator 42 so that the rate of change of the admission pressure is supplied via the line 46 to the threshold value generator 44. There, the setpoint deceleration is determined from admission pressure and admission pressure gradient using the following vector equation with the aid of preset constants K1 and K2:
K1 AS011 =._K2.J admission pressure admission pressure gradient In other advantageous implementations, instead of the admission pressure another pressure value representing the pedal operation, the operating force of the pedal, the operating travel of the pedal etc. and the corresponding gradients are used in a similar manner to generate the threshold value.
Defining the relationship of the setpoint deceleration to the input signals is effected experimentally as well as taking 6 into account preset marginal conditions which define the basic relationship between foot pressure of the driver and ' deceleration of the vehicle. In the comparator module 52, the difference between setpoint deceleration ASoll and actual deceleration AIst is determined. The latter is established by determining the gradient from the vehicle speed signal. The difference between setpoint and actual deceleration is supplied to the controller unit 62. The latter determines in dependence upon the difference according to a preset control strategy (e.g. PID) the vehicle- related braking force F which is to be adjusted in order for the actual deceleration to approximate to the setpoint deceleration.
To improve the driving properties as well as optionally to improve the braking effect in the case of a small rear axle brake, the vehiclerelated braking force F is corrected in a wheel-specific manner in the correction units 68 to 74. During said process, the acquired braking force F is used to calculate a wheel-specific braking torque, which is determined from the product of the acquired braking force F, the wheel radius RRad as well as a factor f, which is dependent on the driving state. Said factor takes into account wheel load, coefficient of friction and/or cornering. By controlling the valve arrangements 30 to 36, preferably within the context of braking torque control, the wheelspecific braking torques are adjusted.
The brake system in the preferred embodiment is a hydraulic brake system. Corresponding measures may however also be effected in a pneumatic, electrohydraulic, electropneumatic or purely electric brake system.
In the preferred embodiment, deceleration control is effected in the operating state of panic braking. Panic braking is an operating state in which the driver, in response to a hazard situation, suddenly operates the brake pedal quickly and forcefully. For recognition of said braking situation, the 7 gradient of the brake pedal operation, preferably taking the operating signal itself simultaneously into account, is compared with a preset threshold value. If the gradient exceeds said threshold value, via the line 38 as a result of activation of the return pump there is a build-up of braking force at the wheels beyond the stipulation of the driver and the switch 60 is closed via the line 64, so that from the beginning to the end of panic braking the procedure according to the invention is implemented. An end to panic braking is recognized when the operating signal falls below a preset threshold value.
An increase of the braking force is effected in another embodiment not only in a panic braking situation but also continuously within the context of power-assisted braking in dependence upon the operating gradient of the brake pedal. The faster the pedal is operated, the higher the adjusted braking force at the wheels. With such a function also, the measures according to the invention are advantageously applied in states where the braking force is increased beyond the value associated with the stipulation of the driver.
8

Claims (1)

  1. Claims
    1. Method of controlling the brake system of a vehicle, wherein the operation of the brake pedal is detected by means of a measuring device and the control of the brake system is effected in dependence upon the operating signal, wherein as a result of control of the brake system a vehicle deceleration predetermined in dependence upon the operating signal and its change is adjusted.
    Method according to claim 1, characterized in that, as an operating signal, the pressure in the main brake cylinder of the brake system (admission pressure), the operating travel of the brake pedal, the operating force of the brake pedal or the pressure in the brake line or lines of the brake system is determined.
    3. Method according to one of the preceding claims, characterized in that a setpoint deceleration value is determined in dependence upon the operating signal and its gradient.
    4. Method according to one of the preceding claims, characterized in that a controller is provided which, in dependence upon the deviation of the actual deceleration from the preset deceleration, determines the braking force required to comply with the preset deceleration.
    5.
    Method according to one of the preceding claims, characterized in that by virtue of taking into account driving state values such as wheel load, coefficient of 9.
    9 friction, cornering, wheel radius etc. a wheel-specific braking torque distribution is determined.
    Method according to one of the preceding claims, characterized in that the individual wheel brakes are controlled in the sense of compliance with the preset deceleration in view of wheel-specific braking torque distribution.
    Method according to one of the preceding claims, characterized in that the brake system is a hydraulic, pneumatic, electric, electrohydraulic or electropneumatic brake system.
    Method according to one of the preceding claims, characterized in that deceleration control is effected in the event of so-called panic braking.
    Method according to one of the preceding claims, characterized in that, in the event of panic braking, a braking force beyond the stipulation of the driver is adjustable at the wheel brakes, the preset deceleration being adjusted during panic braking.
    10. Method according to one of the preceding claims, characterized in that the setpoint deceleration is preset in such a way that, independently of the vehicle weight and the brake condition, the same foot pressure always produces the same deceleration.
    Device for controlling the brake system of a vehicle, having a control unit for influencing the braking force at the wheels of the vehicle, having a measuring device for determining the operation of the brake pedal, the control unit through control of the brake system adjusting a vehicle deceleration predetermined in dependence upon the operating signal and its change.
    12. A method of controlling the brake system of a vehicle, substantially as herein described with reference to the accompanying drawing.
    13. A device for controlling the brake system of a vehicle, substantially as herein described with reference to the accompanying drawing.
GB9614081A 1995-07-21 1996-07-04 Method and apparatus for controlling the brake system of a vehicle Expired - Lifetime GB2303417B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19526659A DE19526659C2 (en) 1995-07-21 1995-07-21 Method and device for controlling the brake system of a vehicle

Publications (3)

Publication Number Publication Date
GB9614081D0 GB9614081D0 (en) 1996-09-04
GB2303417A true GB2303417A (en) 1997-02-19
GB2303417B GB2303417B (en) 1998-03-18

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Family Applications (1)

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GB9614081A Expired - Lifetime GB2303417B (en) 1995-07-21 1996-07-04 Method and apparatus for controlling the brake system of a vehicle

Country Status (4)

Country Link
US (1) US5816666A (en)
JP (1) JPH0930394A (en)
DE (1) DE19526659C2 (en)
GB (1) GB2303417B (en)

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GB2312481A (en) * 1996-04-26 1997-10-29 Bosch Gmbh Robert Controlling the brake system of a vehicle

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DE10137273B4 (en) * 2000-08-11 2020-03-19 Continental Teves Ag & Co. Ohg Method and device for assisting the driving of a vehicle during braking
DE10154425A1 (en) * 2001-11-06 2003-05-15 Continental Teves Ag & Co Ohg Process for controlling the braking force of vehicle brake systems of the brake-by-wire type
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DE102005021497A1 (en) * 2005-05-10 2006-11-16 Robert Bosch Gmbh Brake assistant with gain factor for emergency brake control
DE102005034326A1 (en) * 2005-07-22 2007-04-12 Audi Ag Brake system for a motor vehicle and method for operating such a brake system
JP4705519B2 (en) * 2005-07-28 2011-06-22 日信工業株式会社 Brake pressure control device for vehicle
FR2890027B1 (en) * 2005-08-30 2007-10-26 Renault Sas DEVICE FOR CONTROLLING THE PRESSURE OF THE HYDRAULIC BRAKE FLUID OF A CALIPER OF A MOTOR VEHICLE WHEEL
JP4887975B2 (en) * 2005-12-08 2012-02-29 日産自動車株式会社 Brake device for vehicle
JP4853543B2 (en) * 2009-04-13 2012-01-11 トヨタ自動車株式会社 Braking force control device for vehicle
US20130297164A1 (en) 2012-05-07 2013-11-07 Ford Global Technologies, Llc System and method for controlling a brake system in a vehicle
DE102012219984A1 (en) * 2012-10-31 2014-04-30 Siemens Aktiengesellschaft Brake actuator for a brake system of a vehicle, in particular a rail vehicle
US20160280190A1 (en) * 2015-03-23 2016-09-29 Bendix Commercial Vehicle Systems Llc Pre-computed and optionally cached collision mitigation braking system
CN113187891B (en) * 2021-05-20 2022-09-13 中国第一汽车股份有限公司 Gear shifting method of automatic transmission brake compensation strategy
CN114763126B (en) * 2021-06-15 2023-05-23 长城汽车股份有限公司 Vehicle brake control method and device, vehicle and readable storage medium

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GB2312481A (en) * 1996-04-26 1997-10-29 Bosch Gmbh Robert Controlling the brake system of a vehicle
GB2312481B (en) * 1996-04-26 1999-02-10 Bosch Gmbh Robert Method and device for controlling the brake system of a vehicle
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Also Published As

Publication number Publication date
DE19526659A1 (en) 1997-01-23
GB9614081D0 (en) 1996-09-04
JPH0930394A (en) 1997-02-04
DE19526659C2 (en) 2000-02-03
GB2303417B (en) 1998-03-18
US5816666A (en) 1998-10-06

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PE20 Patent expired after termination of 20 years

Expiry date: 20160703